Immersive three-dimensional display for robotic surgery

ABSTRACT

An immersive display for use in a robotic surgical system includes a support arm, a housing mounted to the support arm and configured to engage with a face of the user, at least two eyepiece assemblies disposed in the housing and configured to provide a three-dimensional display, and at least one sensor, wherein the sensor enables operation of the robotic surgical system, and wherein the support arm is actuatable to move the housing for ergonomic positioning.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of co-pending U.S. patentapplication Ser. No. 17/009,644, filed on Sep. 1, 2020, which is acontinuation application of U.S. patent application Ser. No. 15/724,185,filed on Oct. 3, 2017, now issued as U.S. Pat. No. 10,786,327, whichclaims priority to U.S. Patent Application Ser. No. 62/403,655, filed onOct. 3, 2016, which are hereby incorporated by this reference in theirentireties.

TECHNICAL FIELD

This disclosure relates generally to robotic or robotic-assisted systemsand, more particularly, to immersive displays for use in robotic orrobotic-assisted surgical systems.

BACKGROUND

Minimally-invasive surgery (MIS), such as laparoscopic surgery, involvestechniques intended to reduce tissue damage during a surgical procedure.For example, laparoscopic procedures typically involve creating a numberof small incisions in the patient (e.g., in the abdomen), andintroducing one or more tools and at least one endoscopic camera throughthe incisions into the patient. The surgical procedures are thenperformed by using the introduced tools, with the visualization aidprovided by the camera.

Generally, MIS provides multiple benefits, such as reduced patientscarring, less patient pain, shorter patient recovery periods, and lowermedical treatment costs associated with patient recovery. However,standard MIS systems have a number of drawbacks. For example,non-robotic MIS systems place higher demands on the surgeon, in partbecause they require surgeons to indirectly manipulate tissue via toolsin a manner that may not be natural. Conventional robotic MIS systems,which may involve an operator viewing a display showing the endoscopiccamera video feed and remotely operated to manipulate tools based oncommands from an operator, may provide many benefits of MIS whilereducing demands on the surgeon. However, such robotic MIS systemstypically only have rigid, immovable displays that may lead to userstrain, fatigue, and injury during use over long periods of time. Thus,it is desirable to have a display for use with robotic surgical systems.

SUMMARY

Generally, in one variation, an immersive display for use in a roboticsurgical system comprises a support arm, a housing mounted to thesupport arm and configured to engage with a face of the user, at leasttwo eyepiece assemblies disposed in the housing and configured toprovide a three-dimensional display, and at least one sensor, whereinthe sensor enables operation of the robotic surgical system; and whereinthe support arm is actuatable to move the housing for ergonomicpositioning. For example, the support arm may be articulated andcomprise at least one or a plurality of actuatable joints.

The housing may include or be coupled to a contoured face frame that isconfigured to engage with the face of the user, and the face frame mayinclude features such as padding for interfacing with the user, whichmay increase comfort and/or provide compliance for ergonomicpositioning. Similar compliance with the respect to the face frame maybe achieved in other manners, such as with a housing having multiple,movably compliant portions. For example, the support arm may be coupledto a first portion of the housing and the face frame may be coupled to asecond portion of the housing that is movable (e.g., movably compliant)relative to the first portion of the housing.

The housing may include one or more of several additional features toimprove the immersive display experience. For example, the immersivedisplay may include one or more shields coupled to the housing, such asfor blocking ambient light and peripheral visual distractions. At leastone shield may be movable between a first position in which the shieldis configured to obscure at least a portion of a field of view of theuser, and a second position in which the shield is configured to revealthe portion of the field of view of the user. As another example, theimmersive display may include at least one auxiliary display screencoupled to the housing, or any of various audio components such as amicrophone and/or a speaker. A microphone may, for example, be coupledto the housing and configured to receive vocal commands for operation ofthe robotic surgical system. Furthermore, a speaker may be coupled tothe housing and configured to provide audio information to the user. Atleast one haptic actuator may be coupled to the housing and configuredto provide tactile feedback to the user. Furthermore, in somevariations, the housing may include at least one tracking device coupledto the housing to monitor position of the housing.

The eyepiece assemblies may be configured to provide a three-dimensionaldisplay. For example, at least one of the eyepiece assemblies may beconfigured to display a left eye stereoscopic image and at least one ofthe eyepiece assemblies may be configured to display a right eyestereoscopic image, such that together the left eye and right eyestereoscopic images provide a three-dimensional display. For example,the three-dimensional display may be configured to display at least oneimage from an endoscopic camera used in the robotic surgical system. Theeyepiece displays may additionally or alternatively be configured todisplay two-dimensional or other suitable content. In some variations,the immersive display may further include at least one auxiliary displaycoupled to the housing.

At least one sensor may be included as a safety feature of the roboticsurgical system. For example, a sensor (e.g., in a camera or othersuitable optical sensor configured to detect an iris code of a user) maybe configured to identify the user for authorization to operate therobotic surgical system. As another example, a sensor (e.g., an opticalsensor for performing eye-tracking) may be configured to determineproper alignment of eyes of the user with the eyepiece assemblies.

The immersive display may include other sensors for detecting headgestures of a user, performing eye-tracking, and/or detecting other userinteractions, such that a controller may interpret the user interactionsand have the immersive display respond appropriately. For example, inresponse to a detected head gesture of the user, the support arm maymove the housing to track the head gesture (e.g., for ergonomicpositioning). As another example, at least one sensor (e.g., pressuresensor, distance sensor, contact sensor, etc.) may be configured tomonitor head gestures of the user for controlling operation of therobotic surgical system. As another example, at least one sensor may bean optical sensor configured to perform eye-tracking. As yet anotherexample, the three-dimensional display may be configured to display agraphical user interface and at least one sensor may be configured todetect a head gesture for navigation of the graphical user interface.

As another example, the immersive display may be configured to displayat least one image from an endoscopic camera used in the roboticsurgical system. In response to at least one sensor detecting a headgesture, the three-dimensional display may be configured to display amodified image from an endoscopic camera. As an illustration, inresponse to the sensor detecting a forward-directed head gesture, thethree-dimensional display may be configured to display a zoomed-in imagefrom the endoscopic camera. As another illustration, in response to thesensor detecting a backward-directed head gesture, the three-dimensionaldisplay may be configured to display a zoomed-out image from theendoscope camera. Furthermore, in response to the sensor detecting alateral head gesture, the three-dimensional display may be configured todisplay a panning image from the endoscopic camera, and in response tothe sensor detecting a tilting head gesture, the three-dimensionaldisplay may be configured to display a tilting image from the endoscopiccamera.

The immersive display may be configured to provide user positioninginformation. For example, the immersive display may provide guidance formaintaining a correspondence between a first relative spatialrelationship of the eyepiece assemblies and user hand positions and asecond relative spatial relationship of the endoscopic camera and asurgical instrument. For example, a three-dimensional display may beconfigured to display a visual cue for repositioning at least one of thehousing and user hand positions.

As another example, the three-dimensional display may be configured todisplay a visual representation of a user hand position and/or a userfoot position relative to at least one target position (e.g., locationof a handheld user interface device, location of a foot pedal, etc.).The visual representation may be overlaid with a primary image, such asa camera view image.

In some variations, the immersive display may include at least oneexternal camera coupled to the housing. The camera may, for example, beconfigured to provide at least one image of an environment external tothe housing. For example, the three-dimensional display may beconfigured to selectively display the image of the environment externalto the housing. Additionally or alternatively, the immersive display mayinclude at least one external illuminator coupled to the housing, wherethe illuminator may be configured to project light onto an environmentexternal to the housing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is an overview schematic of an exemplary operating roomarrangement with a robotic surgical system.

FIG. 1B is a side view of an exemplary user console with an exemplaryimmersive display, for use in a robotic surgical system.

FIGS. 2A and 2B are perspective and partially exploded views,respectively, of one variation of an immersive display for use in arobotic surgical system.

FIGS. 3A and 3B are detailed front and rear perspective views,respectively, of an exemplary support arm in one variation of animmersive display.

FIG. 3C is a top view schematic of an exemplary support arm that isconfigurable for a left-side or a right-side approach around the user,in one variation of an immersive display.

FIGS. 4A-4C are schematic illustrations of another exemplaryoverhead-style support arm frame in another variation of an immersivedisplay.

FIGS. 4D and 4E are schematic illustrations of another exemplaryside-approach support arm in another variation of an immersive display.

FIG. 5 is a top view schematic of an exemplary housing including movablycompliant housing portions in another variation of an immersive display.

FIG. 6 is a perspective view of an exemplary housing including handlesin another variation of an immersive display.

FIG. 7 is a perspective view of an exemplary housing including shieldsand outward-facing cameras in another variation of an immersive display.

FIG. 8 is a perspective view of an exemplary housing including hapticactuators in another variation of an immersive display.

FIG. 9 is a perspective view of an exemplary housing including amicrophone in another variation of an immersive display.

FIG. 10 is a perspective view of an exemplary housing including aspeaker in another variation of an immersive display.

FIG. 11 is a perspective view of an exemplary housing includingauxiliary displays in another variation of an immersive display.

FIG. 12 is a perspective view of an exemplary housing including trackingdevices in another variation of an immersive display.

FIG. 13 is a schematic of an immersive display with an outward-facingilluminator for providing outward projections.

FIG. 14 is a schematic of an exemplary immersive display setupexhibiting correspondence between a relative spatial relationship of theeyepiece assemblies and user hand positions and a relative spatialrelationship of the endoscopic camera and a surgical instrument.

FIGS. 15A and 15B are top view and side view schematics of an exemplaryimmersive display setup with immersive display sensors working incooperation with headrest sensors.

FIG. 16A is a schematic illustration of another variation of animmersive display, wherein the immersive display is mounted to aceiling. FIG. 16B is a schematic illustration of another variation of animmersive display, wherein the immersive display is mounted to a cartconfigured for use with a standing user console.

FIG. 17 depicts an exemplary displayed image and graphical userinterface shown in an immersive display.

FIG. 18A is an exemplary display in an immersive display showing avisual representation of user hand positions relative to target handpositions. FIG. 18B is an exemplary display in an immersive displayshowing a visual representation of foot positions relative to targetfoot positions.

FIG. 19 is an exemplary schematic of a control system for controllingvarious components in and associated with one variation of an immersivedisplay.

DETAILED DESCRIPTION

Non-limiting examples of various aspects and variations of the inventionare described herein and illustrated in the accompanying drawings.

FIG. 1A is an illustration of an exemplary operating room environmentwith a robotic surgical system 100. As shown in FIG. 1A, the roboticsurgical system 100 comprises a user console 120, a control tower 130,and one or more robotic arms 112 located at a robotic platform 110(e.g., table, bed, etc.), where surgical instruments (e.g., with endeffectors) are attached to the distal ends of the robotic arms 112 forexecuting a surgical procedure. The robotic arms 112 are shown as atable-mounted system, but in other configurations, the robotic arms maybe mounted to a cart, ceiling or sidewall, or other suitable supportsurface.

Generally, a user, such as a surgeon or other operator, may use the userconsole 120 to remotely manipulate the robotic arms 112 and/or surgicalinstruments (e.g., in tele-operation). The user console 120 may belocated in the same operating room as the robotic system 100, as shownin FIG. 1A. In other environments, the user console 120 may be locatedin an adjacent or nearby room, or tele-operated from a remote locationin a different building, city, or country, etc. The user console 120 maycomprise a seat 122, foot-operated controls 124, one or more handhelduser interface devices 126, and at least one user display 128 configuredto display, for example, a view of the surgical site inside a patient(e.g., captured with an endoscopic camera). As shown in the exemplaryuser console 120, a user located in the seat 122 and viewing the userdisplay 128 may manipulate the foot-operated controls 124 and/orhandheld user interface devices 126 to remotely control the robotic arms112 and/or surgical instruments mounted to the distal ends of the arms.

In some variations, a user may operate the surgical robotic system 100in an “over the bed” (OTB) mode, in which the user is at the patient'sside and simultaneously manipulating a robotically-driven instrument/endeffector attached thereto (e.g., with a handheld user interface device126 held in one hand) and a manual laparoscopic tool. For example, theuser's left hand may be manipulating a handheld user interface device126 to control a robotic surgical component, while the user's right handmay be manipulating a manual laparoscopic tool. Accordingly, in thesevariations, the user may perform both robotic-assisted MIS and manuallaparoscopic surgery on a patient.

During an exemplary procedure or surgery, the patient may be prepped anddraped in a sterile fashion, and anesthesia may be achieved. Initialaccess to the surgical site may be performed manually with the roboticsystem 100 in a stowed configuration or withdrawn configuration tofacilitate access to the surgical site. Once the access is completed,initial positioning and/or preparation of the robotic system may beperformed. During the procedure, a surgeon in the user console 120 mayutilize the foot-operated controls 124, user interface devices 126,and/or other suitable controls to manipulate various end effectorsand/or imaging systems to perform the surgery. Manual assistance may beprovided at the procedure table by other personnel, who may performtasks including but not limited to retracting tissues, or performingmanual repositioning or tool exchange involving one or more robotic arms112. Other personnel may be present to assist the user at the userconsole 120. When the procedure or surgery is completed, the roboticsystem 100 and/or user console 120 may be configured or set in a stateto facilitate one or more post-operative procedures, including but notlimited to robotic system 100 cleaning and/or sterilization, and/orhealthcare record entry or printout, whether electronic or hard copy,such as via the user console 120.

In some variations, the communication between the robotic platform 110and the user console 120 may be through the control tower 130, which maytranslate user commands from the user console 120 to robotic controlcommands and transmit them to the robotic platform 110. The controltower 130 may transmit status and feedback from the robotic platform 110back to the user console 120. The connections between the roboticplatform 110, the user console 120, and the control tower 130 may be viawired and/or wireless connections, and may be proprietary and/orperformed using any of a variety of data communication protocols. Anywired connections may be built into the floor and/or walls or ceiling ofthe operating room. The robotic surgical system 100 may provide videooutput to one or more displays, including displays within the operatingroom as well as remote displays accessible via the Internet or othernetworks. The video output or feed may be encrypted to ensure privacy,and all or one or more portions of the video output may be saved to aserver, an electronic healthcare record system, or other suitablestorage medium.

Immersive Display System

As shown in FIG. 1B, an immersive display 140 may be part of a userconsole 120 for a robotic surgical system, along with an open display128, a pedal assembly 124, and one or more handheld user interfacedevices 126. The immersive display 140 may display three-dimensional(3D) and/or two-dimensional (2D) information to a user in a manner thatcomfortably and ergonomically immerses the user into the displayenvironment with reduced distractions from the user's peripheral fieldof view. The immersive display 140 (e.g., display housing 144 coupled tothe seat 122 via a support arm 142) may display various informationassociated with the surgical procedure (e.g., endoscopic camera view ofthe surgical site, static images, GUIs, etc.) and/or robotic surgicalsystem (e.g., status, system settings), and/or other suitableinformation in the form of 2D and 3D video, images, text, graphicalinterfaces, warnings, controls, indicator lights, etc. Unlike otherimmersive and virtual reality head-mounted devices, which rely entirelyon motion of the head-mounted display to change the view of within thedisplay and thus restrict the ability of head movements to control otherinstruments, the immersive display 140 as described herein may enablethe user to interact with displayed content using head gestures andother head/eye movements for control of the immersive display andoperation of other instruments such as those in the robotic surgicalsystem.

Generally, as shown in FIG. 2A, an immersive display 200 may include asupport arm 210 (partially shown in FIG. 2A), a housing 220 mounted tothe support arm 210 and configured to engage with a face of a user, atleast two eyepiece assemblies 230 disposed in the housing and configuredto provide a three-dimensional display, and at least one sensor (e.g.,represented by sensor 224 on a face frame 222 configured to engage theface of the user). The sensor may enable operation of the roboticsurgical system upon detection of a certain parameter (e.g., presence orabsence of a user engaged with the immersive display 200, sufficientalignment of the user relative to the eyepiece assemblies 220,identification of the user as an authorized user of the robotic surgicalsystem, etc.), as described in further detail below. Additionally, thesupport arm 210 may be actuatable, such as for positioning, orienting,or otherwise moving the housing 220 for ergonomic purposes.

Support Arm

The support arm functions at least in part to support the weight of thehousing, such that the user does not have to bear the weight of thehousing (e.g., on the user's head or face) when the housing is engagedwith the face of the user. As shown in FIG. 1B, a support arm 142 in theimmersive display 140 may couple the immersive display housing 144 to afixed structure such as a seat 122 or seat assembly. The support arm 142may be configured to bring the housing 144 in position to engage thefront of the user's face or head, although the immersive display mayadditionally or alternatively include straps or similar attachmentdevices to help secure the housing 144 to the user's face or head.

In some variations, the support arm 144 may be mounted on a seat back orheadrest of the seat 122 and configured to approach the user from a sideof the user console 120 to facilitate user access to the immersivedisplay. For example, a proximal end of the immersive display supportarm may be coupled to a right side of the seat back, thoughalternatively the proximal end of the display support arm may be coupledto a left side of the seat back (e.g., at about the height of the headrest, though not necessarily). The proximal end of the immersive displaysupport arm may be configured to adjust vertically (e.g., with aprismatic joint) and/or rotationally, etc. Furthermore, the support armmay be configured to fold or collapse against the back or side of theseat (or other mounting location of the arm), so as to enable useraccess to the seat and/or facilitate storage or transport of the userconsole 120 in a compact configuration.

In other variations, a proximal end of the support arm 144 may befixedly coupled to a midline (or near midline) of the seat back andconfigured to approach the user from the side of the user console 120 tofacilitate user access to the immersive display. For example, a proximalend of the immersive display support arm may be fixedly mounted (e.g.,via fasteners, welded joint, mechanical locks, etc.) to a posteriorsurface of the seat back of the seat 122. As another example, a proximalend of the immersive display support arm may be adjustably coupled to aposterior surface of the seat back, such as with a prismatic or otherjoint that enables the immersive display support arm to adjustvertically, laterally and/or rotationally relative to the seat back.

The immersive display support arm may be articulated such that it iscapable of moving with multiple degrees of freedom, so as to positionand orient the housing to a desirable state for the user. For example,in one exemplary variation shown in FIGS. 3A and 3B, an articulatedimmersive display support arm may include at least six degrees offreedom. In this paragraph, “horizontal” is meant in reference to beinggenerally orthogonal to the seat back, while “vertical” is meant inreference to being generally parallel to the seat back. The support arm310 may include a proximal mount coupled by a first rotational joint J1,such as a pin or fork joint, to a first link L1, where the firstrotational joint J1 is rotatable around a vertical joint axis to providemovement in a horizontal plane. The first link L1 is coupled by a secondrotational joint J2 to a second link L2, and second link L2 is coupledby a third rotational joint J3 to a third link J3. The first, second andthird rotational joints J1, J2, and J3 are oriented along respectivevertical rotation axes, and can permit adjustment of the immersivedisplay without significant restriction at a desired location generallyin a horizontal plane around the headrest region.

Further configurational flexibility is provided by the third link L3being coupled by a fourth rotational joint J4 to a fourth link L4, wherethe fourth rotational joint J4 is rotatable around a horizontal axis toprovide movement in a vertical plane. The fourth link L4 is furthercoupled by a fifth rotational joint J5 to a fifth link L5, where thefifth rotational joint J5 is rotatable around a horizontal axis toprovide movement in a vertical plane. Furthermore, fifth link L5 iscoupled by a sixth rotational joint J6 to a sixth link or bracket memberL6, where the sixth rotational joint J6 is rotatable around a verticalaxis to provide movement in a horizontal plane. The fourth, fifth, andsixth rotational joints J4, J5, and J7 generally permit vertical heightadjustment of the immersive display such that in combination with thefirst, second, and third rotational joints J1, J2, and J3, all sixrotational joints enable adjustments in various combinations of angularposition changes in three-dimensional space (e.g., translation in X-Y-Z,rotation in yaw, roll, and pitch directions). The immersive display arm310 may, as the result of multiple articulated joints having a suitablenumber of degrees of freedom may, for example, enable arm rotation, armextension/retraction, arm forward/backward tilting, etc.

As shown in FIG. 3B, housing 320 may be mounted to bracket member L6 bya seventh rotational joint J7, where the seventh rotational joint J7 isrotatable around a horizontal axis so as to allow a seventh degree offreedom for pivotable adjustment in a vertical plane (e.g., angling upor down).

Some or all of the joints, such as the fourth and fifth joints J4 andJ5, may include friction brakes, active brakes, clutch, and/or otheractuatable locking mechanisms to help lock the immersive display supportarm into a particular configuration. Locking the immersive displaysupport arm in place may, for example, help counter gravitationaleffects that might cause the housing 320 and/or the support arm 310 tocollapse downward (e.g., onto the user, if the seat assembly is in areclined configuration). Additionally or alternatively, some or all ofthe joints may be counterbalanced in order to prevent downward collapsewhen unsupported externally by a user, etc.

Manipulations of the pose (i.e., location and/or orientation of parts ofthe arm) may be manually controlled and/or controlled with one or moreactuators. Some movements of the arm may be automatic (e.g., collapse orextension) in response to a trigger, such as identification of a userpresent in the seat and ready to be engaged with the immersive display.Some movements of the arm may be triggered based on user input (e.g., asdetermined by sensors built into the support arm, handles coupled to thehousing, etc.) and controlled by software. Manual adjustments of the armmay involve disengaging a clutch (e.g., with a touch sensor, button,handle, etc.) that is configured to resist movement of the arm.

In other variations, the support arm may include one substantiallynonarticulated member. For example, the support arm may act as a staticcantilever arm to suspend the immersive display generally in front ofthe seat assembly. In yet other variations, the support arm may includea member that swings laterally toward and away from a user in the seatassembly. For example, as shown in FIG. 4D, when the immersive display400′ is not in use, the support arm 410′ may be oriented laterallyoutward in an “out” position to keep the housing 420′ away from the faceand head of the user. When the user is ready to engage the housing 420′,as shown in FIG. 4E the display support arm 410′ may then swinglaterally inward in an “in” position to keep the housing 420′ proximateto the face and head of the user.

In variations in which a proximal end of the support arm is mounted to aside or to the midline (e.g., for vertical symmetry) of a seat back orother structure, the support arm may be configured to approach the userin the seat from either side. For example, in the schematic of animmersive display 300 shown in FIG. 3C, a proximal end of the supportarm is mounted to a seat back or headrest located behind the user, andthe support arm 310 wraps around a right side of the user and positionsthe housing 320 for engagement with the face of the user. However, aplurality of joints 312 in the support arm 310 may be configured topassively and/or actively rotate (clockwise direction as shown in FIG.3C) to enable the support arm 310 to wrap around a left side of theuser. Some or all joints (e.g., at least a proximal shoulder jointmounted to the seat back) may pivot such that at least some of thesupport arm is repositioned generally within a single plane, while atleast some joints may be spherical joints or other suitable joints topermit any suitable ambidextrous reposing of the support arm 310 inspace. For example, a distal yaw joint and/or tilt axis may enable thehousing 320 to pivot in order to accommodate approach of the housing 320from either side of the user.

In yet other variations, as shown in FIGS. 4A-4C, the immersive display400 may be coupled to the seat back (or headrest, etc.) with an overheadassembly including one or more support arms 410, such as in a supportframe. The support arms 410 may be configured to approach the user fromover the user's head as shown in FIG. 4A to allow the user to engagewith housing 420. As shown in FIG. 4B, the support arms 410 mayfurthermore swing overhead to behind the headrest or other portion ofthe seat back, and the support arms 410 and/or housing 420 may fold downagainst the seat back (e.g., FIG. 4C) or collapse or recede into acavity in the seat back, such as for storage purposes.

In some variations, the housing and/or support arm may include one ormore sensors to aid in collision avoidance. For example, at least oneproximity sensor (e.g., ultrasound, laser, etc.) may be located in atleast a portion of the housing and/or support arm in order to detectpotential collisions with the seat (e.g., seat back, armrest, headrest),open display monitor, the user's face or other body part, etc. Upon thedetection of a potential collision, the immersive display may emit awarning, such as an audio tone, visual signal, tactile feedback throughhaptic motors, and/or the support arm may be actuated to remain in a“hold” position or move in an opposite direction so as to avoidcollision between the support arm and another object.

In some variations, the support arm may include structures to help auser manually move the arm. For example, as shown in FIG. 5 , thesupport arm may include a handle 512 that may be grasped to repositionand repose the support arm as the result of pushing and/or pulling onthe handle. Additionally, the handle may include sensors (e.g., pressureor contact sensors, capacitive sensors, etc.) to receive user input forfurther control of the immersive display, as further described below.

In other variations, the support arm may couple the housing to anothersuitable fixed structure, such as a ceiling or ceiling fixture, a columnor wall, or a movable fixture such as a table or cart. For example, asshown in FIG. 16A, and immersive display 1600 may include a ceilingboom-type arm 1610 mounted to a ceiling or other upper fixture, and ahousing 1620 coupled to the distal end of the arm 1610. In such a setup,the arm 1610 may be mounted overhead the patient on a table 10 or othersurface with robotic arms 20, such that the user may be interfacing withthe immersive display 1600 while standing (rather than sitting in a seatto which the immersive display is mounted) in a location where he or shemay directly supervise the surgical procedure. In other variations, thearm 1610 may be mounted in any suitable location on the ceiling, wall,column, etc. A nearby cart 30 may provide additional components forcontrolling the robotic surgical system, such as handheld user interfacedevices. Alternatively, as shown in FIG. 16B, in another variation ofimmersive display 1600′, the support arm 1610′ may couple the displayhousing 1620′ to a movable item such as a cart 30, which may permittransportation of the immersive display between different operatingrooms. In some variations, the immersive display 1600′ may be used inconjunction with a standing or desk-type user console such as thatdepicted in FIG. 16B, where a user may, while standing or sitting in achair separate from the immersive display 1600′, interact with an opendisplay 1634, handheld user interface devices 1620, and foot-operatedcontrols 1638, as well as selectively engage with the immersive displaywhen desired. As another example, the support arm may be desk-mounted ormounted on another boom that is positionable for a user seated at anindependent chair (e.g., stool or office chair), such as for use in anoperating room or other room, and/or training purposes in an officesetting. Furthermore, the support arm may be detachable from any of suchfixed structures, so as to swap between different setups (e.g.,transition between a chair-mounted immersive display, a ceiling-mountedimmersive display, a wall-mounted immersive display, head-mounteddisplay etc.).

In yet other variations, it should be understood that the support armmay be omitted and the display housing may be mounted in any suitablemanner, such as placed directly on a desk or other console system, orconfigured to be head-mounted (e.g., part of a helmet or includingheadstraps, etc.). For example, many of the concepts described herein(e.g., head gesture recognition, movable or pressure-sensing supportcushions in the housing, eye-tracking, etc.) may be utilized in fixedbinocular displays without a support arm structure.

Housing

As shown in FIGS. 2A and 2B, the housing 220 provides an interface viaface frame 222 for engaging with the face of a user, where the housing220 at least partially encloses and protects the eyepieces assembliesand other display components. For example, as best shown in thepartially exploded view of FIG. 2B, the housing 220 may be a receptacleincluding an internal volume that receives at least a left eyepieceassembly 230L and a right eyepiece assembly 230R. The housing 220 may bemade of a relatively lightweight material (e.g., plastic) formed into areceptacle through any suitable combination of manufacturing methods(e.g., injection molding, machining, 3D printing, etc.). The housing 220may be one integral piece, or may be a combination of assembled pieces,such as housing shells coupled together with fasteners, epoxy, etc. toform a receptacle.

In some variations, as best shown in FIG. 2B, the housing 220 mayinclude openings or vents 246 to facilitate cooling of the internalvolume of the housing 220. For example, there may be one or more fans244 disposed within the housing, which are configured to direct flow ofair in the housing toward vents 246 for exit out of the housing 220. Inthis manner, the fans and vents may generate negative pressure forpulling air away from the user's face and toward the vents 246, therebykeeping the user's face at a comfortable temperature, as well as helpingto maintain suitable temperature environments for components within thehousing.

As shown in FIGS. 2A and 2B, the housing 220 may include or be coupledto a face frame 222 or eye shroud. The face frame 222 may be configuredto provide a comfortable, ergonomic interface between the housing 220and the user's face. The face frame 222 may be contoured to receive ahuman face (e.g., generally concave), and include a window 226 (e.g.,open or transparent to visible light) to leave the user's line of sightto the eyepiece assemblies unobstructed. The face frame 222 may includea cutout or other opening 228 to provide clearance for the user's noseand/or mouth. The face frame 222 may, in some variations, be configuredto generally enshroud the eye region of the user.

Additionally, the face frame 222 may be configured to provide areference guide for consistently positioning the user's face (and theuser's eyes) at a correct or ideal distance from the eyepiece assemblyoptics for properly focused images, etc. For example, the dimensions ofthe face frame 222 may be selected so as to place the user's eyes apredetermined distance away from the eyepiece assemblies when the user'sface is engaged with the face frame 222. The predetermined distance maybe a coarse adjustment (e.g., while the eyepiece assembly positions maybe slightly repositioned to provide a fine adjustment of depth), and/orbe customized to the user to accommodate individual face shapes (e.g.,large brow bones or cheekbones, relatively flat face, etc.).

In some variations, the face frame 222 may include a conformable orcompliant material for increased comfort and/or ergonomics. For example,the face frame 222 may include padding such as cushioning, foam (e.g.,shape memory foam), an inflatable structure, etc. on apatient-interfacing side of the face frame, and/or other compliantmaterials such as rubber gaskets or springs that couple the face frame222 to the rest of the housing 220. Accordingly, the integral compliancein the face frame 222 (and/or between the face frame 22 and the housing220) may allow the user to make minor positional adjustments withoutdisengaging his or her face from the housing. For example, the user mayslightly adjust his or her posture without interrupting workflow. Suchminor adjustments may improve the immersive experience of the user inthe 3D display and improve ergonomics.

Additionally or alternatively, the face frame 222 may include othermechanisms for conforming or adapting to the shape of a user's face. Forexample, a patient-interfacing side of the face frame 222 may includemultiple elements (e.g., soft-tipped pins) that are individually movableaxially in response to pressure from the surface of the user's face. Asanother example, a patient-interfacing side of the face frame 22 mayinclude an accordion-like structure around the perimeter of the faceframe that collapses in response to pressure from the surface of theuser's face. An initial configuration of conformance to the user's face(e.g., during a setup phase of the immersive display) may provide areference state, such that any changes in the conformance mechanismsrelative to the reference state may be interpreted as user interactions(e.g., head gestures, as further described below). Conformance to theuser's face may enable detection and recognition of relatively subtlefacial expressions or other cues, which may be interpreted as userinteractions for control of the system. Alternatively, in somevariations, the distance between the face frame 222 and the user's facemay incorporate a predetermined amount of clearance so as to accommodatea trackable workspace for head gestures detected by optical sensors,etc.

In one variation, as shown in FIG. 5 , an immersive display 500 mayinclude a first housing portion 520 a and a second housing 520 b thatare movable relative to each other, such as through a sliding or nestedengagement (e.g., with bearings). For example, the first housing portion520 a may include an outer shell configured to receive a portion of thesecond housing portion 520 b with clearance, such that the secondhousing portion 520 b may be free to move laterally side-to-side and/orforward and backward relative to the first housing portion 520 a. Suchrelative movement may be compliant due to one or more springs 521 and/orother suitable compliant mechanisms. The support arm 520 may be attachedto the first housing portion 520 a (e.g., to a back portion or on theside of the first housing portion 520 a), while the face frame 522 maybe attached to the second housing portion 520 b. In other variations,additional nesting or telescoping housing portions may be included inthe immersive display. Accordingly, the integral compliance in therelative movement between the first and second housing portions mayallow the user to make minor positional adjustments without disengaginghis or her face from the housing. For example, the user may slightlyadjust his or her posture without interrupting workflow. Such minoradjustments may improve the immersive experience of the user in the 3Ddisplay. Furthermore, since postural adjustments are key to reducinguser and strain over extended, long-term use of the system, the multiplehousing portions that are movably compliant relative to one another mayhelp improve the ergonomic characteristics of the immersive display 500.Kinematics of the first and second housing portions (and/or of thesupport arm) may be configured such that a remote center of rotation ofthe immersive display generally coincides with a point estimated orpredicted to be the user's neck. This might, for example, permit naturaladjustments of the support arm and display for further improvedergonomic relief as the user moves his or her head.

In some variations, the face frame 222 may be removable from the housing220, such as for sterilization (e.g., wipe-down with sterilizationsolution, sterilization in an autoclave, etc.) and/or enabling theexchange of different face frames 222 customized for different faceshape types. The face frame 222 may, for example, be removably coupledto the housing with fasteners (e.g., screws, adhesive, etc.).Additionally or alternatively, the face frame 222 may be disposable,such as after a single use or limited number of uses.

One or more sensors (e.g., sensor 224) may be included on or near theface frame 222. For example, at least one sensor (e.g., pressure sensor,proximity or distance sensor such as an optical IR-based sensor, contactsensor temperature sensor, capacitive sensor, etc.) may be used todetect whether a user is engaged with the face frame 222. As describedfurther below, the determination of the absence or presence of anengaged user may be used as part of a safety lock-out or interlockfeature for restricting operation of the robotic surgical system.Furthermore, the detected absence of a user engaged with the immersivedisplay may automatically result in another open display (e.g., display128 as shown in FIG. 1A) serving as a primary display (e.g., withendoscopic camera view or other primary image content), while theimmersive display optionally serves as a secondary display (withsecondary image content). In contrast, the detected presence of a userengaged with the immersive display may automatically result in theimmersive display serving as the primary display, while another opendisplay optionally serves as a secondary or auxiliary display.Additionally or alternatively, at least one sensor on or near the faceframe 222 may be used to detect any misalignment or non-optimumpositioning of the user's engagement with the immersive display, andtrigger a signaling to the user for self-correction of the misalignment,or trigger an automatic adjustment (e.g., by actuating the support armuntil the misalignment is corrected). One or more proximity sensors mayadditionally or alternatively be used to provide a comfortableengagement with the user's face with the face frame 222, such as bytriggering actuation of a dampened or slowed “soft landing” effect asthe face frame 222 and the user's face approach each other forengagement.

As another example, one or more of the sensors may be used to detectuser interactions (e.g., head gestures) which may be used to changecontrols in the system, modify the immersive display content, adjusthousing or support arm configurations, etc. For example, such sensorsmay include pressure sensors, capacitive sensors, optical sensors, etc.where a change in signal may indicate motion of the user's head. Forexample, when the user moves his or her head to the right, this motiongenerally results in increased pressure on the right side of the faceframe 222 and decreased pressure on the left side of the face frame 222.Sensors detecting these changes in pressure may be used to determine thehead gesture toward the right. As another example, contact sensors maydetect shear forces on the surface of one or more cushions or othersurfaces that may be used to indicate a head turn gesture. Any number ofsuitable sensors may be used and placed at any suitable locations on,along, or in, the immersive display.

In some variations, as shown in FIGS. 15A and 15B, one or more sensors1532 may alternatively or additionally (e.g., for redundancy) beincluded in a headrest 1530 behind the head of the user for detectinguser interactions via head gestures. For example, a housing 1520 of theimmersive display may include one or more sensors 1522 arrangedgenerally on a left side, near the center, and/or on a right side of thehousing 1520, and/or a headrest 1530 may include one or more sensors1532 generally arranged on a left side, near the center, and/or on aright side of the headrest 1530, though other suitable arrangements ofdistributed sensors may be included in the immersive display and/orheadrest. Information from these headrest sensors 1532 may be comparedto or combined with information from the immersive display sensors 1522to derive user intent. For example, head gestures and other headmovements of the user may result in the back of the head providinginputs to the sensors 1532 in the headrest 1530 that are complementaryto inputs to the sensors 1522 on the housing 1520 (e.g., when the usermoves his her head to the right, this motion generally results inincreased pressure on both the right side of the housing and the rightside of the headrest), which may enable sensor redundancy. As anotherexample, a combination of a lack of sensed pressure against the headrestand sensed pressure against the immersive display may indicate a firstuser intent (e.g., adjustment in posture), while a combination of sensedpressure against the headrest and sensed pressure against the immersivedisplay may indicate a second user intent distinct from the first userintent.

As yet another example, one or more sensors on the face frame 222 (orelsewhere coupled to the housing or other components of the immersivedisplay) may include one or more biometric sensors for monitoringparameters of the user. For example, the immersive display may includeone or more EKG sensors for measuring heart activity, temperaturesensors, heart rate sensors, blood pressure sensors, EEG sensors formeasuring brain waves (e.g., to be placed on the user's temples), sweatsensors, other stress sensors, etc. Such biometric monitoring of theuser while utilizing the immersive display may be useful for monitoringstress levels of the user, for gathering data for research or trainingpurposes, etc. This biometric data may be stored in any suitable memoryor storage device, such as a local storage device located in theimmersive display (e.g., housing), other portion of the user console,other components of the robotic surgical system (e.g., a central unit ona cart, table, or control unit). Other examples of storage devicesinclude portable flash memory (e.g., USB drives), remote computers orservers, cloud storage, etc.

As shown in FIGS. 5 and 6 , other variations of the housing may includeone or more handles for manipulating (e.g., repositioning) the immersivedisplay. For example, at least one handle 524 (FIG. 5 ) or 624 (FIG. 6 )may be included on a side of the housing 520 or 620 (e.g., to facilitatea gross positioning mode in which large positional adjustments areperformed, such as with enablement of a high number of degrees offreedom in the housing and/or support arm, with no or relatively fewlimitations on motions), and/or at least one handle 626 as shown in theimmersive display 600 in FIG. 6 (e.g., to facilitate a fine positioningmode in which small or minor positional adjustments are performed, suchas with enablement of fewer degrees of freedom in the housing and/orsupport arm, with more limitations on motions than in the grosspositioning mode) on a side of the housing 620. Other suitable locationsfor handles also include a top or bottom exterior surface of the housing620. In some variations, some handles may be located on both sides ofthe housing so as to permit ambidextrous use (e.g., a left side handle626 and a right side handle 626). Some or all of the handles may includegrips or bars as shown in FIG. 6 , and/or a knob as shown in FIG. 5 ,though in other variations the handles may include rings, levers, andother suitable shapes for grasping. Additionally, at least some of thehandles may include textural features to improve grip, such as fingergrooves, ribbings, or bumps. As described in more detail below, at leastsome of the handles may include sensors (e.g., pressure, capacitive,etc.) for providing additional input for user interactions with theimmersive display and/or for gathering biometric data (e.g., heartrate).

As shown in FIG. 7 , in some variations of an immersive display 700, thehousing 720 may include at least one shield (e.g., side shield 732,lower shield 734) coupled to the housing configured to help blockambient light (from outside the housing) from entering the field ofvision of the user, and/or help reduce visual distractions for the user,thereby improving the immersive experience when the user is viewingthrough the immersive display. However, in some instances, the user maywish to remove or reposition the shield to view and/or interact with theobstructed portions of his or her field of view. For example, the usermay wish to view his or her hands (e.g., for locating or graspinghandheld user interface devices) or feet (e.g., for locating pedals orother foot-operated controls) outside of the immersive environment. Toaccommodate such instances, the shield may be movable between a firstposition in which the shield is configured to obscure at least a portionof a field of view of the user, and a second position in which theshield is configured to reveal the portion of the field of view of theuser. As such, the housing may be equipped with one or more suitableactuators for moving the shield between the first and second positions.The shield actuators may be triggered based on eye-tracking sensors,head gestures, input into user devices such as handheld user interfacedevices or foot-operated user interface devices, vocal commands, etc.

For example, as shown in FIG. 7 , a housing 720 may include at least oneside shield 732 disposed on the side of the housing. When the sideshield 732 is engaged in the first position (indicated by the solidoutline in FIG. 7 ), the side shield 732 may be configured to block alateral peripheral portion of the user's field of view. The side shield732 may be actuated to swing or pivot laterally outward into a secondposition (indicated by the dashed line in FIG. 7 ) to reveal thepreviously-obstructed lateral peripheral portion of the user's field ofview. In other variations, instead of swinging laterally outward towardthe second position, the side shield 732 may swing upward around anupper horizontal axis, or downward around a lower horizontal axis. Inyet another variation, the side shield 732 may retract or collapse alongthe side of the housing (e.g., along a side wall of the housing 720, orwithin a slot in the side wall of the housing 720) to transition to thesecond position.

As another example, a housing 720 may include at least one lower shield734 disposed on a lower portion of the housing. When the lower shield734 is engaged in the first position (indicated by the solid outline inFIG. 7 ), the lower shield 734 may be configured to block a lowerperipheral portion of the user's field of view. The lower shield 734 maybe actuated to swing or pivot downward into a second position (indicatedby the dashed line in FIG. 7 ) to reveal the previously-obstructed lowerperipheral portion of the user's field of view. In other variations, thelower shield 734 may retract or collapse along the lower portion of thehousing (e.g., along a lower wall of the housing 720, or within a slotalong the lower wall of the housing 720) to transition to the secondposition. Similarly, the housing for the immersive display may includeshields disposed in and/or around any suitable portions of the housing.Although the shields depicted in FIG. 7 are generally flap-like, othertypes of shields are possible, such as accordion-like, collapsiblefabric shrouds.

Actuation of the one or more shields may occur as the result of userinteractions. For example, sensors performing eye tracking may detectuser glances (e.g., for at least a predetermined period of time, and/orin a particular direction toward a shield) and thereafter triggeractuation of one or more of the shields towards the second position toreveal the previously-obstructed view. For example, one or more sensorsmay detect when the user glances down toward a region blocked by thelower shield 734, and trigger the actuation of the lower shield 734toward the second position. As another example, a pressure or forcesensor on a side of the face frame may detect when the user presses hisor her head against the side of the face frame toward the side shield732, and trigger the actuation of the side shield 732 toward the secondposition. Accordingly, various sensors may enable the user to view hisor her real environment outside the immersive environment, withoutrequiring disengagement from the immersive display. Additionally oralternatively, the one or more shields may be manually moved between thefirst and second positions. Furthermore, the one or more shields may bebiased toward either the first position or the second position (e.g.,unless a bias force is overcome by a manual or actuated force, theshield may block a portion of the user's field of view), such as with aspring or other suitable bias mechanism (not shown).

As shown in FIG. 7 , one variation of the housing 720 may include one ormore cameras, such as outward-facing cameras 722 located on a side ofthe housing opposite the eyepiece assemblies 730. Outward-facing camerasmay image the surrounding real environment and provide those images orvideo feed for display to the user on the immersive display such thatthe user may, if desired, view at least a portion of the surroundingreal environment (e.g., in a “virtual window” mode that mimics viewingthrough a transparent or see-through housing) without disengaging fromthe immersive display. The outward-facing cameras 722 may be configuredto provide different video feeds depending on their location. Forexample, as shown in FIG. 7 , the outward-facing cameras 722 are locatedon a front surface of the housing 720 and are therefore configured toprovide the user with contextual awareness of the real environmentdirectly in front of the front surface of the housing 720. As anotherexample, one or more outward-facing cameras may be located on a side ofthe housing 720 so as to provide the user with contextual awareness ofthe real environment directly next to the side of the housing 720. Suchperipheral images may help provide the user with an expandable field ofview of his or her real environment. In some variations, the user mayselectively toggle between a display of a see-through view provided bythe outward-facing cameras 722 and other displays of the immersiveenvironment (e.g., endoscopic camera view) with user interactionsdetected by sensors. For example, if a user wishes to visually locatefoot-operated controls positioned near his or her feet, the user mayselect the “virtual window” mode and tilt his or her face downwards(while engaged with the housing 720) toward the foot-operated controlsto “see” the foot-operated controls via the video feed provided by theforward-facing cameras 722.

As shown in FIG. 8 , in some variations, in an immersive display 800, ahousing 820 may include one or more haptic actuators 840 configured toprovide tactile feedback to the user. For example, the haptic actuatorsmay include at least one vibration device (e.g., vibration motor,piezoelectric actuator, resonator, etc.). The haptic actuators 840 maybe individually or collectively activated in order to communicateinformation to the user. For example, the haptic actuators 840 maycommunicate information relating to a graphical user interface displayedon the open display or the immersive display (e.g., warnings, alerts,confirmation of selection of a menu item, etc.). As another example, thehaptic actuators 840 may provide tactile feedback relating toconfiguration of the immersive display (e.g., vibrating to give thefeeling of a mechanical detent and/or variable resistance for orientingor positioning the support arm and/or housing), which may, for example,be useful to help guide the user to a more ergonomic setup with theimmersive display and/or to guide the user to an optimum relativehead-arm/hand configuration for hand-eye coordination while viewing theimmersive display (as further described below).

In some variations, multiple haptic actuators 840 may be arranged in adistributed fashion around the housing 820, and may provide directionalindications relating to status of other components from the roboticsurgical system. For example, a handheld user interface device, whichprovides the user control over a robotic surgical system, may have alimited workspace within which its movements may be tracked in space andtranslated into commands for the robotic surgical system. When thehandheld user interface device is approaching or has reached a boundaryof its trackable workspace, one or more haptic actuators 840 mayactivate as a directional alert or warning that manipulations of theuser interface device may soon be or is now untrackable (e.g., as aleft-side boundary of the trackable workspace is approached, acorresponding left-side haptic actuator 840 on the housing mayactivate). As another example, as a robotic arm is manipulated as theresult of the user's actions while engaged with the immersive display,the robotic arm may approach or reach a limit of its physical range ofmotion. In such instances, one or more haptic actuators 840 may activateas a directional alert or warning to indicate to the user that a currentcommand for motion of the robotic arm is in danger of reaching itsphysical limits of motion. As another example, during use, the roboticarm may become at risk for colliding with or physically interferinganother object such as another robotic arm, the patient table, a nearbysurgical assistant, etc. Similar to the above-described examples, one ormore haptic actuators 840 may activate as a directional alert or warningto indicate to the user that the robotic arm is at risk of collision.

In some variations, the housing may include one or more audio devices.For example, as shown in FIG. 9 , an immersive display 900 may includehousing 920 including at least one microphone 952. The microphone 952may be located, for example, on a portion of the housing to bepositioned near the user's mouth (e.g., an underside of the housing, asshown in FIG. 9 ), though other locations on the housing may besuitable. In other variations, a separate microphone (e.g., clip-onmicrophone) may plug into a port located on the housing or support arm.The microphone 952 may be used to communicate with other people such assurgical staff involved in the surgical procedure and/or to enable voicerecordings (e.g., communications with surgical staff, dictations fornotes such as medical records, etc.). Additionally or alternatively, themicrophone 952 may receive vocal commands (e.g., verbal commands ornoises such as clicking, blowing, whistling, etc.) for voice control ofthe robotic surgical system, interactive content of displays, etc. Forexample, voice control may be used to switch between applications ortasks in the GUI, or control particular features in applications on theGUI such as selecting music, switching views or screens of the GUI, etc.Furthermore, the microphone 952 may be coupled to externalvoice-controlled devices (e.g., personal cell phone, etc.) to enablehands-free operation of the external voice-controlled device. Some orall of these above-described vocal commands may be accompanied withanother user input (e.g., actuation of a foot pedal or otherfoot-operated controls) operating similar to a clutch. Alternatively,some or all of these vocal commands may be performed without asimultaneous user input clutch.

As another example, as shown in FIG. 10 , an immersive display 1000 mayinclude housing 1020 including at least one speaker 1050. The one ormore speakers 1050 may be located, for example, on at least one side ofthe face frame 1022 and configured to project sound directionally towardthe user's ears when the user is engaged with the housing 1020. Forexample, a speaker 1050 on both left and right sides of the housing mayprovide stereo sound. However, other locations on the housing may besuitable (e.g., top, bottom). Speakers 1050 may be configured to provideadditional information to the user, such as sound accompanying displayedvideo content, noises and sound effects associated with a graphical userinterface (e.g., clicks or tones indicating selection of items in thegraphical user interface, alerts or warnings, etc.), and/or soundsaugmenting haptic actuator actions for an enhanced, richer experience.The speaker 1050 may also be used to receive communications with otherpeople such as surgical staff (e.g., in conjunction with a microphone952 described above, the speaker may 1050 facilitate two-waycommunication) or for phone calls when connected to a phone device. Asanother example, one or more speakers 1050 may be configured to emitwhite noise or active noise cancellation for the user. Furthermore, thespeaker 1050 may be coupled to one or more external audio devices (e.g.,radio, personal music player device, etc.).

In some variations, an immersive display 1100 includes a housing 1120with one or more auxiliary displays located independent of the 3Ddisplay provided by the eyepiece assemblies. Such displays may display,for example, supplemental content (training videos, pre-operativemedical images such as CT or MRI scans, etc.) that may be useful forreference during the surgical procedure. In other modes, the displayscould additionally or alternatively display primary content (such asendoscopic camera video feed, graphical user interface information,etc.). For example, the housing may include one or more side displays1140 located adjacent the eyepiece assemblies such that the user mayview content on the side displays 1140 in his or her lateral peripheralvision (or with a side glance). As another example, the housing may oneor more top displays 1130 located on a top exterior surface of thehousing 1120, such that the user may view content on the top display1140 in his or her upper peripheral vision (or with an upward glance).The auxiliary displays may be actuatable between a viewable position anda hidden or storage position, similar to the shields described abovewith reference to FIG. 7 . For example, the side displays 1140 may beconfigured to swing laterally inward and outward depending on whetherthe user wishes to view content on the displays. Similarly, the topdisplay 1130 may be configured to flip up and flip down around apivoting axis, or slide in and out of a pocket or slot as desired.

As shown in FIG. 12 , in yet other variations, an immersive display 1200may include a housing 1220 with one or more tracking devices to monitorthe position of the housing 1220 in space. The tracking devices mayinclude, for example, electromagnetic transmitters, optical fiducialmarkers (e.g., optical tracking balls 1232) used in conjunction withoverhead or nearby optical sensors, inertial measurement units, etc.Additionally or alternatively, a support arm coupled to housing 1220 mayinclude joint or position encoders on the support arm, potentiometers,etc. for tracking the housing. Tracking the position of the housing 1220may enable automatic changes in the immersive display content based onposition. For example, after detecting with the tracking devices thatthe housing 1220 has been moved from being engaged with the face of auser to being disengaged and pushed off to a side of the user, theimmersive display may transition from a primary display (e.g.,endoscopic camera view of the surgical site and surgical tools) to asecondary display (e.g., reference images, etc.). As another example,after detecting with the tracking devices that the housing 1220 is movedto a location inaccessible by the seated user and/or adjacent an opendisplay monitor, the immersive display may transition to a dual-consoledisplay in cooperation with the open display or other display unit. Asyet another example, after detecting with the tracking devices that thehousing 1220 is moved to an extreme location off to the side (e.g.,storage position) or is turned around to face away from the user, theimmersive display may automatically turn off or revert to an idle orstandby state.

The tracking device information may also help enable ergonomicoptimization and user alignment with the immersive display for extendeduse and comfort. For example, the tracking device 1220 may indicate insome circumstances that the housing is slightly not level or is slightlymisaligned with the user's eyes and/or hands, and may in responseautomatically trigger a minor positional adjustment via the support armto correct the position of the housing relative to the user (e.g., tomake the housing level relative to the user's eyes, correct to providethe user with the proper line of sight for viewing the immersivedisplay, etc.).

In some variations, the housing and/or support arm may be configured tokeep the housing and eyepiece assemblies generally level and alignedwith the user, despite inadvertent minor movements such as vibrationscaused by passersby, etc. As such, the housing or other suitable portionof the immersive display may include an accelerometer or other suitablesensor for detecting movements of the housing and/or support arm thatare associated with aberrations rather than intentional userinteractions. In response to detection of such minor movements, one ormore actuators in the support arm may activate as part of an activesuspension to compensate for the minor vibrations and keep the displayrelatively stable and aligned with the user.

In another variation, as shown in FIG. 13 , an immersion display mayinclude a housing 1320 having at least one outward-facing illuminator1322 for projecting one or more reference indicators on a workspace. Theilluminator 1322 may include, for example, a laser, LED, other lights,etc. For example, the illuminator 1322 may project a grid, icons, orother references to highlight an optimal position for the user'shandheld user interface devices relative to the eyepieces in theimmersive display (e.g., to optimally match the endoscopiccamera-surgical instrument relationship, as further described below). Asanother example, the outward illumination may additionally oralternatively be used to improve visibility of specific targets or othercomponents of the system, such as preset locations to dock or set downhandheld user interface devices, locations of pedal assemblies or otherfoot-operated controls, etc. Such improved visibility may involve, forexample, illuminated projections of graphical icons or outlines ofhighlighted or targeted components, and may be useful in situations suchas when the user is engaged with the immersive display but able to viewthe illuminated projections in their peripheral vision (e.g., shieldsdescribed with respect to FIG. 7 are not obstructing the user's field ofview) which assist the user in locating the targeted components.

Eyepieces and Display

As shown in FIG. 2B, at least two eyepiece assemblies, including a leftside eyepiece assembly 230L and a right side eyepiece assembly 230R, maybe disposed inside the housing 220 and arranged in a binocular fashion.Each eyepiece assembly includes an LCD and/or LED panel display, optics(e.g., lenses, mirrors, etc.), and electronics. For example, in somevariations, the eyepiece assemblies may be similar to any suitableeyepiece assemblies that are commercially available for applicationsincluding virtual and augmented reality environments (e.g., for militaryand/or gaming purposes) and are familiar to one of ordinary skill in theart. Collectively, the eyepiece assemblies are configured to provide a3D display (e.g., stereoscopic) to the user. The 3D display may furtherbe configured to display 2D content. One or more actuators may beintegrated in or coupled to at least one eyepiece assembly, such as foradjusting the relative positions between the eyepiece assemblies (e.g.,for adjustment of interpupillary distance) and/or depth within thehousing (e.g., for adjustment of distance to the user's eyes), etc.Other electronics associated with the eyepiece assemblies and othercomponents in the housing may relate to controlling and managing imagesignals to the display and power supply to the various components. Insome variations, the electronics may include one or more wirelessbatteries or other power sources for supplying power to the electricalcomponents of the immersive display, though additionally oralternatively, immersive display may be coupled to a wired primary orbackup power supply.

In some variations, a series of multiple lenses may additionally oralternatively be included in the housing and configured provide a curvedor panoramic image that continuous spans a wide visual frame.Alternatively, the series of multiple lenses may also be configured intotwo or more divided, split screens showing discrete content across theavailable visual frame. Furthermore, lenses or other correctivemechanisms may be selectively provided in conjunction with the eyepieceassemblies to provide vision correction (e.g., for near-sightedness,far-sightedness, astigmatism, etc.).

Generally, the eyepiece assemblies may be configured to display a rangeof information to the user when the user is engaged with the immersivedisplay, including but not limited to 3D information, video, staticimages, GUIs, interactive controls, etc. The eyepiece assemblies 230 mayserve as a supplemental display to other displays relating to therobotic surgical system such as an open display (e.g., display 128 asshown in FIG. 1B), auxiliary displays on the immersive display (e.g.,side and/or top displays 1140 and 1130 as shown in FIG. 11 ), and anyother auxiliary displays (e.g., open displays coupled to a seat in auser console, etc.). As such, one or more of these displays may bedesignated a primary display intended for principal viewing. An exampleof a primary display is a GUI such as that shown in FIG. 17 . Forexample, a GUI may display endoscopic image data 1700 (e.g., from anendoscopic camera placed inside the patient), and/or patient data 1710(e.g., name, medical record number, date of birth, various suitablenotes, etc.). The primary display may further include a control panel1712 and one or more medical images 1714 (e.g., pre-operative images ofpatient tissue). The control panel 1712 may include information such asa left tool number, a left tool name, a left tool function, and thelike. Similar information can be supplied for a right tool arm. However,other suitable GUIs or other display content may be appear on a primarydisplay. Furthermore, one or more of the displays may be designated asecondary display for providing supplemental content (e.g., referenceimages or videos). Various user interactions may cause the displays tochange their designations as a primary display, secondary display (orother suitable classification of display), and thus their displayedcontent type, as further described below.

The housing may include eye-tracking sensors or cameras (e.g., disposedin or near the eyepiece assemblies 230 shown in FIGS. 2A and 2B), whichmay be used to detect the user's gaze, which may be used for a safetylock-out or interlock feature for restricting operation of the roboticsurgical system (e.g., with iris code detection, as further describedbelow), for changing controls in the system, modifying the immersivedisplay content, for being interpreted as user input for navigation of aGUI on one of the displays, as another suitable metric for evaluatingthe use of the immersive display and/or robotic surgical system, etc.Additionally or alternatively, eye tracking or pupil sensing may be usedto automatically adjust the interpupillary distance (IPD) between thetwo eyepieces based on a detected distance between the user's pupils, asfurther described below. Eye-tracking may also be used, in somevariations, to monitor the fatigue level of the user, such as duringextended use of the robotic surgery system.

It should be understood that although some specific examples of sensortypes, sensor locations, and sensor functions in the immersive displayhave been discussed above, a wide variety of other sensors and sensortypes may additionally or alternatively be located throughout thevarious components of the immersive display (e.g., support arm, housing)in order to capture information about the user and/or for receiving userinput as interactive user controls. For example, the immersive displaysystem may include various sensors and other components for use asfurther described below.

Controller

The immersive display may include a control system that governs behaviorof the immersive display. For example, the control system may includeone or more controllers 1900 in the including one or more processors(e.g., microprocessor, microcontroller, application-specific integratedcircuit, field programmable gate array, and/or other logic circuitry).Controller 1900 may be in communication with one or more othercomponents of a user console 1940 (e.g., handheld user interfacedevices, foot-operated user interface devices, open display, etc.). Thecontroller 1900 may further be in communication with a storage device1930 for storing various items in memory such as biometrics of a user,user preferences, user profiles, etc. The controller 1900 may further bein communication with subcontrol modules such as a support armcontroller 1910 configured to control components of the support armincluding but not limited to various motors 1912 for actuating thesupport arm, and various sensors 1914, and any other components of thesupport arm such as those described herein. Furthermore, the controller1900 may be communication with a housing controller 1920 configured tocontrol components of the housing of the immersive display, includingbut not limited to eyepiece assemblies 1922, sensors 1924, motors 1926,and any other components within the display housing such as thosedescribed herein. Alternatively, the controller 1900 may interfacedirectly with components of the support arm and/or housing, therebyomitting subcontrol modules 1910 and 1920 for the support arm and thehousing, respectively.

Operation of an Immersive Display

Generally, the immersive display may be operated in one or more ofseveral modes or states. The transitions between these modes and/or anyother modes may be directed by the user via interactions with sensors ofthe immersive display (e.g., in the support arm and/or housing), andadditionally or alternatively with other supplemental sensors in a userconsole with which the immersive display is associated. As such, theswitching between various modes may, for example, be handled by a statemachine/controller.

In a setup mode, the immersive display is initialized for the user whenthe user interacts with the immersive display system. This mode may besuitable, for example, during preparation for or at the beginning of asurgical procedure performed with an associated robotic surgical system.This mode may also be suitable whenever the user engages with theimmersive display, for the first time for a particular surgicalprocedure and/or, in some variations, at selected interim timesthereafter (e.g., after a period of disuse of the immersive display).

In some variations, a setup mode may be characterized by a safetylock-out or interlock feature implemented in the immersive display, suchthat one or more sensors may enable operation of robotic surgicalsystem. In one variation, one or more sensors may be configured toidentify the user for authorization to operate the robotic surgicalsystem. For example, such a sensor may be incorporated in a cameraconfigured to detect an iris code of a user, where the controllercompares the detected iris code to stored iris codes in a databaseassociated with authorized users and enables operation of the roboticsurgical system if the detected iris code corresponds to that associatedwith an authorized user. Other sensors suitable for detecting a uniquebiometric parameter may additionally or alternatively be included foridentifying the user, such as an IR sensor for detecting a heatsignature, electronics for performing voice recognition, etc. If thereis no indication that the user is an authorized user of the roboticsurgical system, the immersive display and/or other components of a userconsole may remain powered off, idle, or otherwise nonresponsive if theuser attempts to operate the robotic surgical system. Furthermore, uponidentifying the user via iris code detection and recognition, thecontroller may load user-associated presets and/or preferences, such asseat position adjustment settings for a seat assembly in the userconsole, favorite GUI representations, etc.

In another variation, one or more sensors may be configured to determineproper alignment or positioning of the face of the user with thehousing, eyepiece assemblies, or other suitable part of the immersivedisplay. For example, such a sensor may be an optical sensor configuredto perform eye-tracking, where the controller analyzes the user's gazeto determine whether the user's eye is in an optimum location relativeto the eye assemblies. If proper positioning (e.g., distance from eyeassemblies and/or lateral alignment) is determined, then the controllermay enable operation of the robotic surgical system. If there is noindication that the user's eyes are properly positioned, the immersivedisplay and/or other components of a user console may remain poweredoff, idle, or otherwise nonresponsive if the user attempts to operatethe robotic surgical system. Additionally or alternatively, if there isimproper positioning, then the immersive display may automaticallyadjust (e.g., actuate the support arm to move the housing an incrementalamount to compensate for the misalignment) and/or provide an indicationto the user to adjust his or her position relative to the immersivedisplay. Other sensors may additionally or alternatively be included onor in the housing, such as pressure, distance, or temperature sensors,etc. (e.g., on a user-interfacing side of the face frame) that providean indication of the user's presence and/or position relative to theimmersive display. These other types of sensors may, for example, beadditionally utilized to provide redundancy with the eye-trackingsensors for safety purposes.

In some variations, a setup mode may be characterized by an adjustmentof interpupillary distance (IPD) between the two eyepiece assemblies toaccommodate anthropometric ranges among different users. The controllermay perform such adjustment automatically, such as by using eye-trackingto determine the user's IPD and actuating the eyepiece assemblies closeror farther apart until the IPD between the eyepiece assemblies areapproximately matching. Additionally or alternatively, the IPDadjustment may be manual, such as with a geared arrangement controlledby a knob or electronic switch. In one variation, the IPD distance for aparticular user may be stored in memory and associated with a userprofile in a database as part of the user's settings and preferences,such that at a subsequent time when the user is identified or logs in asa user of the immersive display, the controller may retrieve the user'sprofile and automatically adjust the IPD between the eyepieces to matchthe user's IPD. Some or all of these user settings and preferences mayadditionally or alternatively be determined based on iris coderecognition applied to the user.

In yet other variations, a setup mode may be characterized by anadjustment of other immersive display settings in accordance with theuser's settings and preferences stored in the user's profile. Forexample, after identifying the user and retrieving the user's profilefrom a database of stored user profiles, the controller may adjust thesupport arm to a preferred configuration (e.g., left-side or right-sidesupport arm configuration relative to the user, position of the supportarm and housing, etc.).

After the immersive display is set up for a user, the immersive displaypresents information to the user relating to the robotic surgicalsystem. Additionally, at least one sensor (e.g., eye-tracking sensors tofollow the user's gaze and/or pressure sensors or other sensors includedin the housing, etc.) may be configured to detect a head gesture of theuser, and the controller may interpret head gestures of the user andrespond to the interpreted head gestures according to the interpretationof the head gestures of the user. Other sensors such as eye-tracking mayindicate other user intent.

In some variations, in response to a detected head gesture of the user,the support arm may be configured to move the housing to track the headgesture such that when the user repositions himself or herself whileengaged with the housing of the immersive display, the support armactuates the housing to move in a corresponding manner to maintain theengagement. For example, if the user leans back in his or her seat, orturns his or her head to the left or right, then the support arm mayactuate the housing to follow the user's head as if the housing werecoupled directly to the user's head with straps or the like. Thistracking of head gestures enables the user to adjust his or her posturewithout having to disengage from the immersive display, so the user maybe able to adjust his or her posture more frequently, thereby improvingergonomic qualities of the system. The controller may distinguishbetween a head movement relating to postural adjustment from a headgesture relating to intentional disengagement based on parameters suchas amount and/or velocity of motion (e.g., a relatively significant andquick head gesture may be interpreted as intentional disengagement fromthe immersive display). When the controller determines that the userdoes wish to disengage from the immersive display (e.g., to view theopen display, to take a break, etc.), the support arm may abstain fromtracking the head gesture and allow the user to separate from theimmersive display.

The immersive display may also use any of the above-described sensors(e.g., pressure sensors, distance sensors, contact sensor, switchsensors, eye-tracking sensors, etc.) to monitor head gestures intendedfor changing controls in the systems, modifying the display, adjustingthe housing or support arm configuration, other operation of the roboticsurgical system, etc. For example, a user's quick nod upwards mightresult in selection of a “virtual window” mode that changes the viewdisplayed in the immersive display to the video feed from outward-facingcameras. As another example, a user's slight head turn to the left orright and/or prolonged gaze at a displayed icon may enable navigation(swiping through GUI screens, selection of icons, etc.) through a GUIdisplayed on the immersive display or other display. As yet anotherexample, another combination of one or more user interactions sensed bythe immersive display (head gestures, eye tracking, etc.) may enabletoggling between control of different robotic arms, such as between anrobotic arm used for manipulating an endoscopic camera and anotherrobotic arm used for manipulating a surgical tool in a “camera clutch”mode. As yet another example, another combination of one or more userinteractions sensed by the immersive display may be used to togglebetween using the immersive display as a primary display and using theopen display (e.g., display 128 shown in FIG. 1B) as a primary display.

In some variations, a user's intentional directional head gestures(optionally in combination with another simultaneous input to anothersensor or control operating as a clutch, such as depressing a footpedal, or holding onto a handle with sensors) might result in modifyingthe endoscopic camera view that is displayed. For example, whilesimultaneously activating a clutch, the user may lean in to command acamera view zoom in, lean out to command a camera view zoom out, turnhis head left or right to command a camera view pan left or right, ortilt his head forward or backward to command a camera view tilt forwardor backward. In this manner, a user may, while holding two handheld userinterface devices, may simultaneously operate at least three instruments(e.g., two instruments controlled by two handheld user interface devicesheld by two hands of the user and a camera instrument controlled withthe user's head gestures).

However, the controller may interpret inputs from various combinationsof sensors in any suitable manner for determining user intent.Furthermore, the manner in which various combinations of head gesturesand/or other sensed user interactions are mapped to specific controlcommands may be customized for different users and stored as userpreference in a user's profile, to be loaded during setup of theimmersive display.

Furthermore, in some variations as shown in FIG. 14 , the immersivedisplay may be configured to provide guidance for maintaining acorrespondence between a relative spatial relationship of the housing1420 and user hand position 1430 and a relative spatial relationship ofthe endoscope camera 1440 and a surgical instrument 1450. When the useris engaged with the immersive display, the user may be simultaneouslyviewing (through a displayed endoscopic camera video feed) the surgicalsite and holding handheld user interface devices for remotely controlledsurgical instruments at the surgical site. For the user to maintainsufficiently accurate proprioception (e.g., substantially accuratespatial mapping between the user's immersive environment and the realsurgical site environment), the relative position of the user's head andthe user's hands is preferably substantially similar to the relativeposition of the endoscopic camera and the remotely controlled surgicalinstruments. To provide guidance for maintaining this correspondence,the immersive display may, for example, display to the user graphicalrepresentations or icons for where the user should position his or herhands for the current housing location and orientation. Such graphicalrepresentations may be overlaid on a current displayed image, or may bedisplayed separately (e.g., in a calibration mode). Additionally oralternatively, the immersive display may provide audio cues or hapticcues to notify when the user's head and hands are in the properrelationship (e.g., audio tones to suggest readjustment of the user'shands). In some variations, the controller may implement correctiveadjustments (e.g., adjust position of the immersive display) to helpmaintain suitable correspondence between the relative spatialrelationship of the housing 1420 and user hand position 1430 and therelative spatial relationship of the endoscope camera 1440 and asurgical instrument 1450. Furthermore, other motion coupling, biasing,and/or feedback algorithms relating the position of one or moreimmersive display components (housing, support arm, etc.) to otherrobotic surgical system components (e.g., handheld user interfacedevices, foot-operated controls, etc.) may be included. Such algorithmsmay, for example, apply optimum hand-eye coordination factors inmathematical transformations to map the relationships between thevarious components.

In some variations, the immersive display may be configured to provideone or more visual cues to the user for repositioning at least one of auser hand position and a user foot position relative to target locations(e.g., locations of handheld or foot-operated user interface devices).Audio and/or haptic actuator cues (e.g., beeps or vibrations in the faceframe for indicating confirmed positional placement) from the immersivedisplay may additionally or alternatively provide for such purposes. Forexample, as shown in FIG. 18A, the immersive display may show visualrepresentations of one or more hand positions (e.g., silhouettes 1824)relative to one or more graphical representations 1814 (e.g., bubbles oroutlines) of a target hand location, such the location of a dock orresting place for handheld user interface devices. As another example,as shown in FIG. 18B, the immersive display may show visualrepresentations of one or more foot positions (e.g., silhouettes 1822)relative to one or more graphical representations 1814 (e.g., bubbles oroutlines) of a target foot location, such as the location of a footpedal. The visual representations of the user's hand and/or footpositions may be derived, for example, from source data obtained 3Dcameras or sensors, IR projections, LIDAR, etc. aimed in the userworkspace in which the user's hands and feet are present. These visualand graphical representations may be overlaid with an existing, primarydisplayed image (e.g., camera view). Similar visual and graphicalrepresentations may also be used to provide a visual reminder to theuser to dock handheld user interface devices at a particular designatedlocation (e.g., on a component of a user console, or on a designatedhook or docking location on the support arm and/or housing of theimmersive display).

The one or more sensors may additionally or alternatively be configuredto detect the competency of a user in the seat assembly, such as tocheck that the user operating the surgical instrument is sufficientlywell-rested and/or sober. For example, an optical sensor for performingeye tracking may be used to predict whether a user is sleep-deprived orfatigued (e.g., based on eye movement, blink rate, etc.). Furthermore, achemical sensor (e.g., breathalyzer) may be included to check forsobriety based on ethanol traces and the like. These kinds of eventsmay, for example, trigger at least an audible/visible alarm or otherwarning, and/or a disablement of the controls in order to protect thepatient undergoing a surgical procedure.

In some variations, the immersive display may be operable in a grosspositioning mode and/or a fine positioning mode when being positioned.In a gross positioning mode, the support arm and/or the housing may bemovable in a relatively high number of degrees of freedom (e.g., norestrictions such that all support arm joints move freely, or fewrestrictions on motion, such as only prevention of tilt). In contrast,in a fine positioning mode, the support arm and/or the housing may bemovable in a relatively low number of degrees of freedom less than thatin the gross positioning mode. For example, fine positioning may enableonly a portion of the support arm joints to move freely (e.g., for tiltand/or height adjustments).

It should be understood that although the immersive display is describedherein with particular reference to controlling a robotic surgicalsystem, features of the immersive display (e.g., ergonomicrepositioning) are relevant to other applications. For example, thesupport arm may be used in conjunction with a virtual reality headsetsuch as for gaming and/or engineering development on a virtual realityenvironment. Additionally, to help reduce user fatigue with otherhead-mounted displays such as for military purposes, the support armdescribed herein may be used to help off-load and support weight of thehead-mounted display through gravity balancing or similar weightcompensation, while maintaining a “floating” configuration andpermitting the head-mounted display to be moved freely. Even further,the immersive display housing as described herein may be detachable (orthe support arm omitted) in order to use the housing as a head-mounteddisplay.

The foregoing description, for purposes of explanation, used specificnomenclature to provide a thorough understanding of the invention.However, it will be apparent to one skilled in the art that specificdetails are not required in order to practice the invention. Thus, theforegoing descriptions of specific embodiments of the invention arepresented for purposes of illustration and description. They are notintended to be exhaustive or to limit the invention to the precise formsdisclosed; obviously, many modifications and variations are possible inview of the above teachings. The embodiments were chosen and describedin order to best explain the principles of the invention and itspractical applications, and they thereby enable others skilled in theart to best utilize the invention and various embodiments with variousmodifications as are suited to the particular use contemplated.

The invention claimed is:
 1. A robotic surgical system, comprising: animmersive display that includes: a support arm, a housing coupled to thesupport arm, wherein the housing is configured to provide athree-dimensional (3D) display and is configured to engage with a faceof a user, and a proximity sensor that is part of the housing and isconfigured to sense movement of the face relative to the housing; and acontroller that is configured to move the support arm to maintainengagement between the housing and the face based on the sensedmovement.
 2. The robotic surgical system of claim 1, wherein theproximity sensor is a pressure sensor that is configured to be incontact with the face.
 3. The robotic surgical system of claim 2,wherein the housing comprises a contoured face frame that engages withthe face by coming into contact with and conforming or adapting to ashape of the face, wherein the pressure sensor is disposed in thecontoured face frame.
 4. The robotic surgical system of claim 1, whereinengagement is maintained by keeping physical contact between the housingand the face while the user performs head gestures.
 5. The roboticsurgical system of claim 1, wherein the housing comprises a trackingdevice to monitor a position of the housing, wherein the controller isconfigured to disengage the housing from the face responsive to thetracking device detecting that the position of the housing has moved toa side of the user.
 6. The robotic surgical system of claim 1, whereinthe proximity sensor is further arranged to detect whether there is apresence of the user proximate to the housing, wherein the controller isconfigured to move the support arm to engage the housing with the faceof the user responsive to detecting the presence of the user.
 7. Therobotic surgical system of claim 1, further comprising a headrestagainst which the user rests a back of the user's head, wherein theheadrest includes a pressure sensor, and wherein the controller isconfigured to detect a head gesture performed by the user based onsensor data produced by the pressure sensor.
 8. An immersive display foruse in a robotic surgical system, comprising: a support arm; a housingmounted to the support arm, wherein the housing comprises athree-dimensional (3D) display and is configured to engage with a faceof a user; a proximity sensor that is part of the housing and isconfigured to sense movement of the face relative to the housing; and acontroller that is configured to move the support arm to maintainengagement between the housing and the face based on the sensedmovement.
 9. The immersive display of claim 8, wherein the proximitysensor is a pressure sensor that is configured to be in contact with theface.
 10. The immersive display of claim 9, wherein the housingcomprises a contoured face frame that engages with the face by cominginto contact with and conforming or adapting to a shape of the face,wherein the pressure sensor is disposed in the contoured face frame. 11.The immersive display of claim 8, wherein engagement is maintained bykeeping physical contact between the housing and the face while the userperforms head gestures.
 12. The immersive display of claim 8, whereinthe housing comprises a tracking device to monitor a position of thehousing, wherein the controller is configured to disengage the housingfrom the face responsive to the tracking device detecting that theposition of the housing has moved to a side of the user.
 13. Theimmersive display of claim 8, wherein the proximity sensor is furtherarranged to detect whether there is a presence of the user proximate tothe housing, wherein the controller is configured to move the supportarm to engage the housing with the face of the user responsive todetecting the presence of the user.
 14. The immersive display of claim8, wherein the controller is configured to detect a head gestureperformed by the user based on sensor data produced by a pressure sensorof a headrest against which the user rests a back of the user's head.15. A method comprising: displaying at least one image from an endoscopecamera used in a robotic surgical system on a three-dimensional (3D)display that is disposed in a housing; detecting, using a proximitysensor that is part of the housing, a movement of a face of a userrelative to the housing while the face is engaged with the housing; andmoving the housing while maintaining engagement between the housing andthe face based on the detected movement.
 16. The method of claim 15,wherein the proximity sensor is a pressure sensor that is configured tobe in contact with the face.
 17. The method of claim 16, wherein thehousing comprises a contoured face frame that engages with the face bycoming into contact with and conforming or adapting to a shape of theface, wherein the pressure sensor is disposed in the contoured faceframe.
 18. The method of claim 15, wherein engagement is maintained bykeeping physical contact between the housing and the face while the userperforms head gestures.
 19. The method of claim 15, wherein the housingcomprises a tracking device to monitor a position of the housing,wherein the method comprises disengaging the housing from the faceresponsive to the tracking device detecting that the position of thehousing has moved to a side of the user.
 20. The method of claim 15,further comprising: detecting using the proximity sensor whether thereis a presence of the user proximate to the housing; and engaging thehousing with the face responsive to detecting the presence of the user.